From 2516e6436dc9063c8a065209a895b09a750d2723 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Wed, 26 Nov 2014 14:43:07 +0100
Subject: [PATCH] Fix bug regarding class pathProjector::Dichotomy
---
src/manipulation-planner.cc | 2 +-
src/path-projector.cc | 2 ++
2 files changed, 3 insertions(+), 1 deletion(-)
diff --git a/src/manipulation-planner.cc b/src/manipulation-planner.cc
index 9f73089f..00887b40 100644
--- a/src/manipulation-planner.cc
+++ b/src/manipulation-planner.cc
@@ -124,7 +124,7 @@ namespace hpp {
if (!projPath || projPath->length () == 0) return false;
}
GraphPathValidationPtr_t pathValidation (problem_.pathValidation ());
- pathValidation->validate (path, false, validPath);
+ pathValidation->validate (projPath, false, validPath);
if (validPath->length () == 0)
addFailure (PATH_VALIDATION, edge);
else {
diff --git a/src/path-projector.cc b/src/path-projector.cc
index c10f9301..3424c6cb 100644
--- a/src/path-projector.cc
+++ b/src/path-projector.cc
@@ -54,7 +54,9 @@ namespace hpp {
}
res->appendPath (part);
}
+ proj = res;
}
+ assert (proj);
return true;
}
} // namespace manipulation
--
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